Regular Papers
International Journal of Control, Automation, and Systems 2024; 22(9): 2792-2801
https://doi.org/10.1007/s12555-024-0260-2
© The International Journal of Control, Automation, and Systems
Distributed Leaderless and Leader-following Consensus for Second-order Heterogeneous Multi-agent Systems Under Input Saturation
This paper mainly investigates the consensus problem of heterogeneous multi-agent systems (HMASs) consisting of second-order linear and second-order nonlinear agents under input saturation. First, the consensus control protocols for HMASs in the leaderless case and the leader-following case are designed under undirected connected topology respectively, where there is a static leader under the leader-following network. Then, based on the knowledge of graph theory and Lyapunov stability theory, it is proved that HMASs can finally reach consensus if sufficient conditions are satisfied. Eventually, the effectiveness of the above theory is further illustrated by simulation examples.
Keywords Heterogeneous multi-agent systems (HMASs), input saturation, leader-following consensus, undirected topology.
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Regular Papers
International Journal of Control, Automation, and Systems 2024; 22(9): 2792-2801
Published online September 1, 2024 https://doi.org/10.1007/s12555-024-0260-2
Copyright © The International Journal of Control, Automation, and Systems.
Distributed Leaderless and Leader-following Consensus for Second-order Heterogeneous Multi-agent Systems Under Input Saturation
Yuwan Ma, Jie Wu, Xisheng Zhan*, and Qingsheng Yang
Hubei Normal University
Abstract
This paper mainly investigates the consensus problem of heterogeneous multi-agent systems (HMASs) consisting of second-order linear and second-order nonlinear agents under input saturation. First, the consensus control protocols for HMASs in the leaderless case and the leader-following case are designed under undirected connected topology respectively, where there is a static leader under the leader-following network. Then, based on the knowledge of graph theory and Lyapunov stability theory, it is proved that HMASs can finally reach consensus if sufficient conditions are satisfied. Eventually, the effectiveness of the above theory is further illustrated by simulation examples.
Keywords: Heterogeneous multi-agent systems (HMASs), input saturation, leader-following consensus, undirected topology.
Vol. 22, No. 9, pp. 2673~2953
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